The parameter "use_tf_scan_transform" can be set as true or false in the mapping_default.launch file and acts as an input parameter to the **hector_mapping** node. The description about the same is not present in the [hector_mapping](http://wiki.ros.org/hector_mapping?distro=indigo) documentation.
I am not sure if I am right but i think it takes care of the skew that is generated because of the laser being mounted on a moving robot.
Also if you can provide information about the "use_tf_pose_start_estimate" parameter that would be very helpful.
↧